Real-Time Monocular 3D Vision System

Currently, the automotive industry is actively seeking generic obstacle sensors based on monocular vision and able to run on low frequency central processing units (CPUs). The authors have tackled the challenge of designing a vision based obstacle detection system using a common in-vehicle micro controller: an 80 MHz 32 bits CPU. This system uses a single wide angle rear camera, commercially available. The main contribution of this paper is a novel algorithm based on the structure-from-motion principle that ensures real-time obstacle detection. This algorithm prevents non detection of obstacles by doing a systematic scan of the image while controlling the processing time. The authors demonstrated that our system is able to detect various types of obstacles, from cars to poles up to 6 meters.


  • English

Media Info

  • Media Type: CD-ROM
  • Features: Figures; Photos; References;
  • Pagination: 10p
  • Monograph Title: ITS in Daily Life

Subject/Index Terms

Filing Info

  • Accession Number: 01148355
  • Record Type: Publication
  • Files: TRIS
  • Created Date: Jan 13 2010 9:33PM